Distributed Fuzzy Consensus Control of Uncertain Nonlinear Multiagent Systems With Actuator and Sensor Failures

In this article, an adaptive fuzzy consensus-tracking control scheme is developed for a class of second-order nonlinear multiagent systems with unmodeled dynamics and external disturbance under unknown faults on sensors and actuators. Based on the approximation characteristics of fuzzy logic systems, an adaptive fuzzy estimator is designed to estimate the nonlinear functions, and then a dynamic signal is utilized to deal with the unmodeled dynamics. Meanwhile, by using the backstepping technique and Lyapunov stability theory, a distributed adaptive fuzzy controller is proposed to guarantee that all the consensus-tracking errors between followers and leader converge to an adjustable neighborhood of the origin in the presence of the sensor and actuator failures, unmodeled dynamics, and disturbance. Finally, one demonstrative example of multiple mechanical systems is presented to illustrate the effectiveness of the theoretical results.